WO2018166561A1 - Procédé pour planifier le travail d'un champ agricole - Google Patents

Procédé pour planifier le travail d'un champ agricole Download PDF

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Publication number
WO2018166561A1
WO2018166561A1 PCT/DE2018/100217 DE2018100217W WO2018166561A1 WO 2018166561 A1 WO2018166561 A1 WO 2018166561A1 DE 2018100217 W DE2018100217 W DE 2018100217W WO 2018166561 A1 WO2018166561 A1 WO 2018166561A1
Authority
WO
WIPO (PCT)
Prior art keywords
area
edge portion
implement
working
along
Prior art date
Application number
PCT/DE2018/100217
Other languages
German (de)
English (en)
Inventor
Josef VAN HAAREN
Marco Van Den Boom
Original Assignee
Lemken Gmbh & Co Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lemken Gmbh & Co Kg filed Critical Lemken Gmbh & Co Kg
Priority to EP18714961.2A priority Critical patent/EP3595427B1/fr
Priority to PL18714961.2T priority patent/PL3595427T3/pl
Priority to DK18714961.2T priority patent/DK3595427T3/da
Priority to ES18714961T priority patent/ES2940918T3/es
Priority to US16/492,657 priority patent/US11291153B2/en
Publication of WO2018166561A1 publication Critical patent/WO2018166561A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/002—Devices for adjusting or regulating the position of tools or wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface

Definitions

  • the present invention relates to a method for scheduling a processing of an at least quadrangular region of a
  • the present invention relates to a corresponding processing method for an agricultural field and an apparatus for controlling an agricultural implement, an agricultural
  • processing intensities of the soil may mean a partially excessive and sometimes too weak processing intensity. It is therefore a concern of the farmer, a field efficient and high quality too
  • document DE 10 2004 027 242 A1 discloses a route planning system for agricultural machines with a defined
  • a disadvantage of the known from the prior art fan-shaped processing of a not rectangularly cut field is that by the fan shape, more precisely by the ever-changing working width, which leads to the fan shape, uneven tillage takes place when it is in the agricultural Work implement, for example, a plow or similar device.
  • the graininess of the processed soil varies from coarse to fine grained - depending on the situation to a considerable extent.
  • the continuous change in working width associated with the fan shape may result in a varying density of the material being applied.
  • the fan-shaped machining requires a large number of switching and steering operations, because the working width must change virtually continuously, at least over a very large part of the lane course or over the entire lane course. This leads, for example, to increased wear and therefore higher
  • An object of the present invention is therefore to provide a method by which a non-rectangular field can be processed efficiently, uniformly and with low wear.
  • a further object of the present invention is to provide a device for carrying out such a method and a device with which a planned or preferred planned machining can be carried out.
  • a method for planning a machining of an at least quadrangular area of an agricultural field by means of a steerable or controllable agricultural implement, the area between its corners having edge sections and a first edge section and a second edge section opposite the first edge section and wherein the second edge section is oblique to the first edge section first edge section comprises the following steps: (a) determining a plurality of adjacent first work paths parallel and / or equidistant from the first edge section and determining a plurality of adjacent second work paths parallel and / or equidistant from the second edge section, (b) determining a lane which extends at least partially along the first work paths and the second work paths and along the agricultural implement from the first edge portion over the area to the second edge portion be (c) determining a plurality of turning points along the lane at which the implement is moving from a direction along one of the first work paths in a direction along one of the second work paths or from a direction along one of the second work paths a direction is directed along one
  • Edge sections each extend along a straight line.
  • the method according to the invention also processes a more-than-quadrilateral area, for example a hexagonal, octagonal, decagonal, etc., but also pentagonal, heptagonal, rectangular, etc. area of an agricultural field.
  • a more-than-quadrilateral area for example a hexagonal, octagonal, decagonal, etc., but also pentagonal, heptagonal, rectangular, etc. area of an agricultural field.
  • a more-than-quadrilateral area for example a hexagonal, octagonal, decagonal, etc., but also pentagonal, heptagonal, rectangular, etc. area of an agricultural field.
  • the "field" of the agricultural field defines the entire agricultural field or only a portion of the field, which then also has one or more additional areas, and in a complicated contoured field, it may be necessary to make the field into several quadrangular or more-than-square Areas too
  • the second edge section "is arranged opposite the first edge section" means that the first edge section and the second edge section are not directly adjacent to one another, ie have no common vertex connecting them.
  • the lane runs "at least partially" along the first work paths and the second work paths, so that it can also run exclusively along one of the two work paths over part of the field.
  • the first and second edge sections are oblique, that is not be parallel to each other, must within the range at least one Part of the lane only partially along one of the first trajectories and extend to the complementary part along one of the second trajectories.
  • the lane preferably runs along one of the first work paths, then along one of the second work paths, and depending on the contour of the area after a turning maneuver, for example over a headland, first in the opposite direction along one of the second work paths and then again along one of the first work paths , or depending on the contour of the area without
  • an edge portion of a subsequent to the area second area may be defined.
  • the "direction along one of the first work paths” or the “direction along one of the second work paths” can be, for example, by their parallelism to the first work path or second
  • distance from the first or second edge section is understood to mean a distance measured essentially perpendicular to the edge section Ideally, the agricultural implement is determined in a first or second work paths lying between the number and the width of the respective peripheral area Distance from the first or second edge section.
  • the proportion of the first or second work lane at the lane becomes greater, the closer the implement is to the corresponding edge section.
  • the turning points along the lane are determined so that they lie on a diagonal connecting the first edge portion and the second edge portion.
  • a “diagonal” is meant in this case a line which connects two corners of the first and second edge portions, extending over the area bounded by the edge portions, dividing the area into two parts from the quadrangular area two triangular areas are defined, which are along the diagonal
  • the area optimally.
  • the surface area can be determined, for example, by a specific maximum distance from the diagonal.
  • the working width of the working device is variable during processing between at least two different values.
  • Embodiment is preferably a switching point or, preferably, a plurality of switching points along the lane are determined, at which or at which is started, the working width of
  • working width is understood to mean an actual working width, but also an effective working width, which may differ from the actual working width
  • Working width is important, for example, in the case of a plow, which works a strip of ground of a certain width.
  • An effective working width can be defined in particular in distribution machines, field sprayers and the like, in which, for example, only a part of the entire width of the device is turned on, while another part of the possible (actual) working width of the device is disabled.
  • the duration of the transitional period that is the duration of the time that passes, while the working width of the
  • Working tool is changed from the one to the other value, preferably set in dependence on the forward speed of the implement.
  • This preferred feature allows a particularly uniform and efficient machining of the area, since due to the change in the working width doubled and unprocessed areas of the area are largely excluded.
  • the implement is coupled to a tractor or carrier and in particular as
  • Tillage implement or designed as an application device, preferably as a plow, a cultivator, a disc harrow, a powered harrow, a
  • Seed drill, a field sprayer or a fertilizer spreader may also be self-propelled or coupled to a robot or the like. If the working device is coupled to a tractor, carrier or robot or the like, the combination of the at least two devices can also be regarded as the "working device" in the sense of the present invention
  • a plow connected to a tractor is to be regarded as a working device "Docking” may be, in particular, attachment, attachment, saddling or pulling.
  • the area of the area of the field is in the shape of a trapezium, in particular a rectangular trapezium.
  • a field can be classified as being composed of essentially trapezoidal areas.
  • the areas can be supported by a cartographic representation of the field, in particular a satellite image, a map or corresponding vectors.
  • a “trapezium” is a surface having at least two substantially mutually parallel sides An angle of up to 10 degrees between the two sides is acceptable within the meaning of the present invention, to be still “substantially parallel” be valid.
  • a “right-angle trapezoid” in this context is a trapeze that has at least one right-hand one
  • the working device preferably has a position-determining device, in particular a device for signal-time-based and / or satellite-supported position determination.
  • a position-determining device in particular a device for signal-time-based and / or satellite-supported position determination.
  • positioning devices are based on the satellite navigation systems known under the names GPS, GLONASS, GALILEO, but also a wheel sensor, laser, radar, inertial sensor, rotation rate sensor, gyroscope or a camera can be used to determine the position of the implement.
  • GPS Globalstar Navigation System
  • the lane can be programmed to the implement and the implement can optionally determine when performing the processing, whether it is on the desired course or deviated from the planned lane to possibly recommend a correction steering or make yourself.
  • position-determining devices can be selected or a special position-determining device can be dispensed with.
  • the position and / or orientation of the edge sections can in principle also be determined differently than by driving off.
  • the implement itself it is particularly preferred for the implement itself to be configured for running off the one or more edge sections, because this can already be used, for example, for machining the edge section during travel and thus for determining the position and / or orientation of the edge section in a particularly efficient manner. It is however, it is also possible to use a tug or a special measuring vehicle or another vehicle in addition to the departure.
  • edge section is determined with respect to its position and / or orientation by movement, it is preferably the target edge section, that is to say the edge section on whose opposite side the machining of the area is started.
  • the initial sections will be created.
  • the entire field or area of the field can also be traversed during an initial processing or bypassed separately therefrom, and the field or region can then be subdivided into individual regions, provided that the entire field does not yet have the form of a region suitable for the present method , Curved edge portions can be at least approximately by a polygonalization in a series of straight
  • At least one of the steps is performed with a time delay to a processing of the area.
  • the implement comprises at least two implement units, which are separately usable in spatially different subregions of the area.
  • An example of implement units that complement one another is a robotic swarm.
  • the implement units each have a unit working width, which is variable between at least two different values. It is also possible that only one of the plurality of implement units has a variable unit working width.
  • the steps are carried out in such a way that the implement units complement each other when the area is processed. It is therefore preferred that the implement units during processing or even staggered with each other on the position of the lanes and on which implement unit which lane has edited or already edited, replace, so that the area as efficiently as possible through the multiple
  • Equipment units can be edited.
  • communicating implement units are located in a plurality of compound areas and make a processing there, especially when the composite areas preferably cover the entire field. In this way, it is particularly efficiently possible to process an existing field, which can be subdivided into several areas in the sense of the present invention, which increases the processing speed.
  • records of processed and / or still-to-be-processed portions of the area are based on a method for scheduling the processing of a residual area of the area. For example, an already processed lane of a first implement unit as a target contour for a second
  • Working tool wherein the area between its corners edge portions and thereby has a first edge portion and a second edge portion opposite the first edge portion and wherein the second edge portion obliquely to the first edge portion, characterized in that the area according to a method for planning the processing as above described is processed.
  • the area is processed as it results from the planning explained above.
  • a deviation of a position of the implement from the lane is determined and preferably corrected.
  • the deviation is preferably corrected by changing the working width of the working device, the position of the working device preferably being determined by signal delay and / or satellite crash.
  • the implement may include a plurality of implement units that separately operate on the area of the field, the working width may be an effective working width or an actual working width, and a variable working width may be eliminated.
  • the position of the first and / or second edge section, the first and / or second work path, the lane, the switching point and / or the point of inflection and / or the machining of the area according to at least one of these parameters for a downstream process, in particular a dispensing process and / or for documentation is stored.
  • the mentioned parameter is in particular the work path, the lane, the switching point, the point of articulation or the respective edge section.
  • the device is designed to control the working device so that an at least quadrangular region of the field can be processed by means of the method described above.
  • the device is thus programmed, for example, so that the method is carried out for editing, ie in particular the Einlenkanna and / or switching points were defined during the planning, and corresponding actions of the implement are initiated at a suitable time during processing.
  • the implement has a device for controlling the agricultural implement as described above.
  • the working implement is thus, for example, a plow, a field sprayer or a similar working device with a control unit or, more generally, a device for controlling the working device, so that the machining method, as described herein, by the working device
  • the working width of the working device during machining is preferably between at least two different values
  • Such a working device is preferred because it allows a particularly efficient processing of the area by optimally responding to the planned working width within certain limits.
  • a computer program product of the invention when executed on a computer, performs a method of scheduling a processing of a portion of an agricultural field, as described above.
  • the invention also relates to a system for
  • the invention also relates to a system for remotely supporting the planning of the processing of the field, for example, if the actual user of the field wants to carry out the planning of processing from a distance or want to carry out, for example, to resort to infrastructure, not in his spatial environment be available.
  • Figure 1 shows a schematic plan view of a field to be processed, which forms a quadrangular area.
  • FIG. 2 shows a variant of a region of an agricultural field to be processed, which is shown in FIG.
  • Embodiments has ten corners and has been divided into several areas.
  • FIG. 1 shows an example of a quadrangular region 10 of an agricultural field which is to be processed by means of a steerable or controllable agricultural implement.
  • Figure 1 shows in particular the lane planning.
  • the region 10 is initially defined by four corner points 11, 13, 15, 17, between which four edge sections 12, 14, 16, 18 extend.
  • a first edge portion 12 extends along the left edge of the region 10 and is intended to represent a start portion for processing the region 10.
  • a first edge portion 12 opposite second edge portion 14 extends obliquely to the first edge portion 12 and represents a target portion, that is, the portion where the agricultural implement to complete the processing of the area 10.
  • the field can preferably be parallel to the first edge section 12 or second edge section 14 extend further, so that there conventional, efficient and high-quality parallel processing of the field is possible until the edge of the field is reached.
  • the area 10 may preferably be positioned between the edges of the actual field and used to adjust the orientation of the lanes from one edge to that of the other edge.
  • FIG. 1 shows four first working paths 20 extending parallel to the first edge section 12 and four adjacent second working paths 22 parallel to the second edge section 14.
  • Each of the first working paths 20 extends along a diagonal 28 extending between the first edge section 12 and the second edge section 14 , more precisely between the corner 13 and the corner 17, extends, in each case a second work path 22 via.
  • a lane 24 is defined, wherein the width of the lane over the area of the first work lanes 20 and second work lanes 22 is equal to each other and in the region of the diagonal 28 of the width of the first
  • Working webs 20 to the width of the second working webs 22 or from the width of the second working webs 22 to the width of the first working webs 20 changes.
  • a headland region is defined, which is not shown separately in FIG. In this area, the implement can turn and re-enter the area 10.
  • Figure 1 also shows Einlenka 26 along the lane 24, which are in the embodiment shown in Figure 1 on the diagonal 28. At these turning points 26, the implement changes its
  • FIG. 1 also shows switching points 34 at which the working width of the working device is begun to be adapted to the section of lane 24 to be traveled after the following turning point 26.
  • These switching points 34 can also be arranged in the direction of travel behind the respective pivot point 26 or coincide with the respective pivot point 26.
  • the number of required turning points 26 and thus ultimately the required width of the area 10 can be determined to be parallel from the direction parallel to the first edge portion 12 to the direction to reach the second edge portion 14. If the edge portion 16 is greater by a multiple of this difference A than the edge portion 18, one of these plurality corresponding number of passes and
  • FIG. 2 shows a complex, ten-cornered area 40 which is divided into at least four quadrangular areas 10.1, 10.2, 10.3, 10.4 can be divided to use the inventive method for efficient processing of the complex area 40 can.
  • the respective elements of the area 40 correspond to the regions of FIG. 1 provided with the same reference number, supplemented by a digit identifying the respective area after a point.
  • the reference numerals 20.1 denote the first
  • the complex region 40 can not only be subdivided into individual regions 10.1 - 10.4 in the manner shown in FIG. 2, but other subdivisions are also possible. For example, it is also possible to define a region which is delimited by the edge sections 12.2, 14.1 and the diagonals 28.1 and 28.2, the "diagonal" of which is then formed by the "edge section" 16.1.
  • FIG. 2 serves to illustrate that almost any field can be subdivided into a plurality of "regions" in the sense of the present invention, so that the method according to the invention can be applied to almost every contour of a field.

Abstract

L'invention concerne un procédé pour planifier le travail d'une zone (10) au moins quadrangulaire d'un champ agricole au moyen d'un équipement de travail agricole dirigeable ou commandable. Ladite zone (10) présente entre ses angles (11, 13, 15, 17) des parties côté (12, 14, 16, 18), à savoir une première partie côté (12) et une deuxième partie côté (14) située en face de la première partie côté (12), la deuxième partie côté (14) s'étendant de manière oblique par rapport à la première partie côté (12). Le procédé selon l'invention consiste : à déterminer plusieurs premières bandes de travail (20) s'étendant les unes à côté des autres et plusieurs deuxièmes bandes de travail (22) s'étendant les unes à côté des autres ; à déterminer une voie de circulation (24) s'étendant au moins partiellement le long de la première bande de travail (20) et de la deuxième bande travail (22) et le long de laquelle l'équipement de travail agricole doit être déplacé sur la zone (10) ; à déterminer plusieurs points de guidage (26) le long de la voie de circulation (24), au niveau desquels l'équipement de travail doit être dirigé d'une direction le long d'une des premières bandes de travail (20) vers une direction le long d'une des deuxièmes bandes de travail (22) de sorte que la voie de circulation (24) s'étende avec un écart (30) croissant par rapport à la première partie côté (12) moins le long des premières bandes de travail (20) et plus le long des deuxièmes bandes de travail (22).
PCT/DE2018/100217 2017-03-17 2018-03-09 Procédé pour planifier le travail d'un champ agricole WO2018166561A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP18714961.2A EP3595427B1 (fr) 2017-03-17 2018-03-09 Procédé pour planifier le travail d'un champ agricole
PL18714961.2T PL3595427T3 (pl) 2017-03-17 2018-03-09 Sposób planowania uprawy pola rolniczego
DK18714961.2T DK3595427T3 (da) 2017-03-17 2018-03-09 Fremgangsmåde til planlægning af bearbejdningen af en dyrket mark
ES18714961T ES2940918T3 (es) 2017-03-17 2018-03-09 Procedimiento para planificar el cultivo de un campo agrícola
US16/492,657 US11291153B2 (en) 2017-03-17 2018-03-09 Method for planning the working of an agricultural field

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017105773.0A DE102017105773A1 (de) 2017-03-17 2017-03-17 Verfahren zum Planen der Bearbeitung eines landwirtschaftlichen Felds
DE102017105773.0 2017-03-17

Publications (1)

Publication Number Publication Date
WO2018166561A1 true WO2018166561A1 (fr) 2018-09-20

Family

ID=61868108

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2018/100217 WO2018166561A1 (fr) 2017-03-17 2018-03-09 Procédé pour planifier le travail d'un champ agricole

Country Status (8)

Country Link
US (1) US11291153B2 (fr)
EP (1) EP3595427B1 (fr)
DE (1) DE102017105773A1 (fr)
DK (1) DK3595427T3 (fr)
ES (1) ES2940918T3 (fr)
HU (1) HUE061245T2 (fr)
PL (1) PL3595427T3 (fr)
WO (1) WO2018166561A1 (fr)

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CN114326717A (zh) * 2021-12-13 2022-04-12 中国科学院计算技术研究所 一种智能农机转场与作业的融合路径规划方法及系统
EP4118943A1 (fr) 2021-07-15 2023-01-18 CLAAS E-Systems GmbH Procédé de planification d'un itinéraire de traitement d'un champ d'un engin de travail agricole

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US11369055B1 (en) * 2021-05-21 2022-06-28 Advanced Agrilytics Holdings, Llc Methods and systems for modeling soil processes and properties

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* Cited by examiner, † Cited by third party
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FR3103674A1 (fr) 2019-12-03 2021-06-04 Agreenculture Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation
EP4118943A1 (fr) 2021-07-15 2023-01-18 CLAAS E-Systems GmbH Procédé de planification d'un itinéraire de traitement d'un champ d'un engin de travail agricole
DE102021118272A1 (de) 2021-07-15 2023-01-19 Claas E-Systems Gmbh Verfahren zum Planen einer Feldbearbeitungsroute einer landwirtschaftlichen Arbeitsmaschine
CN114326717A (zh) * 2021-12-13 2022-04-12 中国科学院计算技术研究所 一种智能农机转场与作业的融合路径规划方法及系统

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ES2940918T3 (es) 2023-05-12
PL3595427T3 (pl) 2023-05-08
US11291153B2 (en) 2022-04-05
US20210136994A1 (en) 2021-05-13
EP3595427B1 (fr) 2023-01-11

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